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1、THEVORONOIGAMEINROBOTCOORDINATIONJamesLaw,JeffreyJohnsonDepartmentofDesignandInnovationTheOpenUniversityWaltonHallMiltonKeynes,MK76AA,UKABSTRACTOurintereststemsfromourinvolvementwithrobotfootball[1],particularlyourparticipationinthecompetitionofMiros
2、ot[2].OverrecentyearsmuchCooperationandcommunicationaretwooftheprogresshasbeenmadeintheareasofrobotdesign,fundamentalproblemsassociatedwithresearchintomulti-machinevision,andcontrol,andweareincreasinglyrobotsystems.Inourworkweexaminetheinteractionsof
3、witnessingdiminishingreturnsontheapplicationofmoreateamofrobotfootballers.LikecomputerchessandGo,advancedtechnologies.Oneareawhichisnowbecomingrobotfootballcanbethoughtofasagameinwhichtheincreasinglyimportant,particularlywiththerecentagentsononeteamc
4、ooperatetocontrolmorespacemoreintroductionof11-a-sidecompetitions,isthatofteamcomprehensivelythantheopposingteam.Asaresearchstrategy.Controllershavedevelopedinstagesastherulesexperimentweareinvestigatinga‘space-timepossessionofMirosothavedevelopedfro
5、m3,to5,to11robotspergame’inwhichtheonlyissueisthespacecontrolledbyteam,andaretypicallyrolebased[3-5].Bythiswemeantheagentsbothindividuallyandincombination.Inthisthatastrategyiscomposedofanumberofbehaviourspaper,weabstractasimplegeometricrepresentatio
6、nof(goalkeeper,defender,striker,etc.)whicharegroupedintoplayerinteractionwhichfacilitatesbothcooperationand‘plays’.Asimplerolebasedstrategyisshowninfigure1.communicationthroughvisualstructuresintheThistypeofarchitectureiseasytoadoptinteamsofenvironme
7、nt.WeintroducetheVoronoigameasafiveorless,whenexplicitrolescanbedefinedforeachrepresentationforthegameoffootballanddemonstratetheplayer,butbecomesawkwardwiththeadditionofmoreeffectivenessofsomecompetitivestrategies.players.Rolesareinvariablyrepeated,
8、leadingtomuch1.INTRODUCTIONStrategy:Inamulti-agentsystemthereinvariablyexistanumberofTeamAobservablespatialrelationshipsbetweenagentswhichcanbelinkedtotheobjectivesofthatsystem.OftenthesePlay1:Play2:relationshipsaresecondaryby-productsofmanycomplexAt
